For the six$-$link mechanism shown, differentiate the loop closure equations to obtain

the velocity equation. Perform the motion analysis. $($e$.$g$.$ determine all the variable angles$)$

geometrically when the mechanism is at the position shown and when ${}_{12}=180.$ Sub$-$

stitute these values to the velocity equations and determine the angular velocity of link $6.$ Find Position and acceleration with analytical metchod, drawing.